CN114185259B - Automatic driving mode synchronous control structure and method - Google Patents
Automatic driving mode synchronous control structure and method Download PDFInfo
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- CN114185259B CN114185259B CN202111280545.9A CN202111280545A CN114185259B CN 114185259 B CN114185259 B CN 114185259B CN 202111280545 A CN202111280545 A CN 202111280545A CN 114185259 B CN114185259 B CN 114185259B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Abstract
The invention provides an automatic driving mode synchronous control structure and method, the synchronous control structure comprises: the system comprises an automatic driving system main controller, an automatic driving system redundant controller, a whole vehicle execution system main controller and a whole vehicle execution system redundant controller, wherein the whole vehicle execution system main controller simultaneously receives activation instructions of the automatic driving system main controller and the automatic driving system redundant controller and then enters an automatic driving mode; and the whole vehicle execution system redundancy controller simultaneously receives the activation instructions of the automatic driving system main controller and the automatic driving system redundancy controller, and then enters an automatic driving mode. The automatic driving mode synchronous control structure and the automatic driving mode synchronous control method provided by the embodiment of the invention improve the control efficiency and ensure the reliability and the safety in the driving process.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving mode synchronous control structure and method.
Background
For the automatic driving automobiles of the L3 level and above, redundancy requirements are usually required for an automatic driving system controller ADCU and se:Sub>A whole vehicle execution controller ASC (such as se:Sub>A system of se:Sub>A vehicle body, chassis steering, chassis braking and the like), namely ADCU-A and ADCU-B, ASC-A and ASC-B.
The driving modes of ASC-se:Sub>A and ASC-B may be dangerous if they are in different modes, for example ASC-B has entered the autopilot mode and is controlled by the ADCU, whereas ASC-se:Sub>A has not entered the autopilot mode and is controlled by the driver, which is very dangerous because the driver and ADCU are different from the judgment of the surrounding environment and the intention of the supervisor. Therefore, how to ensure that the driving modes of ASC-A and ASC-B are always uniform, and further ensure the safety of the driving process of the automobile is se:Sub>A problem which is needed to be solved immediately.
Disclosure of Invention
The invention provides an automatic driving mode synchronous control structure and method, which are used for solving the technical problems in the prior art.
The invention provides an automatic driving mode synchronous control structure, comprising: an automatic driving system main controller, an automatic driving system redundant controller, a whole vehicle execution system main controller and a whole vehicle execution system redundant controller, wherein,
The first end of the automatic driving system main controller is electrically connected with the first end of the automatic driving system redundant controller, the second end of the automatic driving system redundant controller is electrically connected with the first end of the whole vehicle execution system redundant controller, the second end of the whole vehicle execution system redundant controller is electrically connected with the first end of the whole vehicle execution system main controller, and the second end of the whole vehicle execution system main controller is electrically connected with the second end of the automatic driving system main controller; the third end of the automatic driving system main controller is electrically connected with the third end of the whole vehicle execution system redundant controller, and the third end of the automatic driving system redundant controller is electrically connected with the third end of the whole vehicle execution system main controller;
The whole vehicle execution system main controller simultaneously receives the activation instructions of the automatic driving system main controller and the automatic driving system redundant controller and then enters an automatic driving mode; and the whole vehicle execution system redundancy controller simultaneously receives the activation instructions of the automatic driving system main controller and the automatic driving system redundancy controller, and then enters an automatic driving mode.
According to the automatic driving mode synchronous control structure provided by the invention, the synchronous control structure further comprises: and the first synchronous clock is respectively and electrically connected with the automatic driving system main controller and the automatic driving system redundant controller.
According to the automatic driving mode synchronous control structure provided by the invention, the synchronous control structure further comprises: the system comprises a first synchronous clock, a second synchronous clock and a third synchronous clock, wherein the first synchronous clock is electrically connected with a main controller of the automatic driving system, the third synchronous clock is electrically connected with a redundant controller of the automatic driving system, and the first synchronous channel is electrically connected between the first synchronous clock and the third synchronous clock.
According to the automatic driving mode synchronous control structure provided by the invention, the synchronous control structure further comprises: the system comprises a fourth synchronous clock and a fifth synchronous clock, wherein the fourth synchronous clock is respectively and electrically connected with the automatic driving system main controller and the automatic driving system redundant controller, the fifth synchronous clock is respectively and electrically connected with the whole vehicle execution system main controller and the whole vehicle execution system redundant controller, and the fourth synchronous clock and the fifth synchronous clock are electrically connected through a second synchronous channel.
The invention also provides an automatic driving mode synchronous control method, which comprises the following steps: based on the time signal of the first synchronous clock, the automatic driving system main controller and the automatic driving system redundant controller send out a driving mode jump command and jump time;
and the whole vehicle execution system main controller and the whole vehicle execution system redundant controller finish the jump of the driving mode based on the jump command of the driving mode and the jump time.
The invention also provides an automatic driving mode synchronous control method, which comprises the following steps: based on the time signal of the second synchronous clock, the main controller of the automatic driving system sends out a driving mode jump command and jump time; meanwhile, based on a time signal of a third synchronous clock, the redundant controller of the automatic driving system sends out the driving mode jump command and jump time;
the whole vehicle execution system main controller and the whole vehicle execution system redundant controller complete the jump of the driving mode based on the jump command of the driving mode and the jump time;
and the time signals are synchronized in real time between the second synchronous clock and the third synchronous clock through a first signal synchronous channel.
The invention also provides an automatic driving mode synchronous control method, which comprises the following steps: based on the time signal of the fourth synchronous clock, the automatic driving system main controller and the automatic driving system redundant controller send out a driving mode jump command and jump time;
Based on the time signal of the fifth synchronous clock, the master controller of the whole vehicle execution system and the redundant controller of the whole vehicle execution system execute the driving mode jump command and the jump time;
and the time signals are synchronized in real time between the fourth synchronous clock and the fifth synchronous clock through a second signal synchronous channel.
According to the automatic driving mode synchronous control structure and method provided by the invention, the automatic driving system main controller, the automatic driving system redundant controller, the whole vehicle execution system main controller and the whole vehicle execution system redundant controller are in direct electrical connection, so that the real-time performance of a control instruction issuing process and an activation state feedback process is ensured; meanwhile, a plurality of synchronous clocks are arranged in the automatic driving synchronous control structure, so that the coordination consistency between the instruction sending process of the automatic driving system controller and the instruction executing process of the whole vehicle executing system controller is fully ensured, the delay phenomenon is avoided, and the control efficiency and the feedback capability of the whole system are effectively improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an automatic driving mode synchronous control structure according to the present invention;
FIG. 2 is a second schematic diagram of an automatic driving mode synchronous control structure according to the present invention;
FIG. 3 is a third schematic diagram of an automatic driving mode synchronous control structure according to the present invention;
FIG. 4 is a schematic diagram of an automatic driving mode synchronous control structure according to the present invention;
FIG. 5 is a schematic flow chart of an automatic driving mode synchronous control method according to the present invention;
FIG. 6 is a second flow chart of the synchronous control method for automatic driving mode according to the present invention;
Fig. 7 is a third flow chart of the synchronous control method for the automatic driving mode according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of an automatic driving mode synchronous control structure provided by the present invention, as shown in fig. 1, where the synchronous control structure includes: an automatic driving system main controller, an automatic driving system redundant controller, a whole vehicle execution system main controller and a whole vehicle execution system redundant controller, wherein,
The first end of the automatic driving system main controller is electrically connected with the first end of the automatic driving system redundant controller, the second end of the automatic driving system redundant controller is electrically connected with the first end of the whole vehicle execution system redundant controller, the second end of the whole vehicle execution system redundant controller is electrically connected with the first end of the whole vehicle execution system main controller, and the second end of the whole vehicle execution system main controller is electrically connected with the second end of the automatic driving system main controller; the third end of the automatic driving system main controller is electrically connected with the third end of the whole vehicle execution system redundant controller, and the third end of the automatic driving system redundant controller is electrically connected with the third end of the whole vehicle execution system main controller;
The whole vehicle execution system main controller simultaneously receives the activation instructions of the automatic driving system main controller and the automatic driving system redundant controller and then enters an automatic driving mode; and the whole vehicle execution system redundancy controller simultaneously receives the activation instructions of the automatic driving system main controller and the automatic driving system redundancy controller, and then enters an automatic driving mode.
In the synchronous control structure, the main controller (ADCU-se:Sub>A), the redundant controller (ADCU-B), the main controller (ASC-se:Sub>A) and the redundant controller (ASC-B) are directly connected to each other, and the main controller is directly connected to the redundant controller, the main controller and the redundant controller through lines. The method comprises the following steps: the automatic driving system controllers or the whole vehicle execution system controllers are electrically connected through internal communication lines, the automatic driving system main controller is electrically connected with the whole vehicle execution system main controller through a line 1, and the automatic driving system redundant controller is electrically connected with the whole vehicle execution system redundant controller through a line 2; the automatic driving system main controller is electrically connected with the whole vehicle execution system redundant controller through a line 1 or a line 2, the automatic driving system redundant controller is electrically connected with the whole vehicle execution system main controller through the line 1 or the line 2, and the line 1 and the line 2 can be selected based on actual conditions.
Meanwhile, the synchronous control structure enables line connection to exist between the main controller of the automatic driving system and the redundant controller of the whole vehicle execution system and between the redundant controller of the automatic driving system and the main controller of the whole vehicle execution system, and based on the structure, more time sequence control logics can be adapted to and more automatic driving mode control methods can be operated as required.
The control logic between the controllers in the synchronous control structure is as follows: ADCU-A provides ASC-A mode jump commands vise:Sub>A line CAN1 and ASC-B mode jump commands vise:Sub>A line CAN1 or line CAN 2; ADCU-B provides ASC-B mode jump commands vise:Sub>A line CAN2 and ASC-A mode jump commands vise:Sub>A line CAN1 or line CAN 2; likewise, the command from ADCU-A to ASC-B and the command from ADCU-B to ASC-A CAN be selected to adopt the line CAN1 or the line CAN2 according to the requirement, but it is required to say that at least one or both lines are required to exist, so that the mode of ADCU-A, ADCU-B, ASC-A, ASC-B is ensured not to be inconsistent for se:Sub>A long time, and the driving risk is avoided.
According to the automatic driving mode synchronous control structure provided by the invention, the main controller of the automatic driving system, the redundant controller of the automatic driving system, the main controller of the whole vehicle execution system and the redundant controller of the whole vehicle execution system are directly connected, so that more time sequence control logics can be adapted based on the structure, more automatic driving mode control methods can be operated, and the applicability of the structure is improved.
According to the automatic driving mode synchronous control mechanism provided by the invention, in the invention, the synchronous control structure further comprises: and the first synchronous clock is respectively and electrically connected with the automatic driving system main controller and the automatic driving system redundant controller.
fig. 2 is A schematic diagram of A second structure of the synchronous control structure of the autopilot mode provided in the present invention, as shown in fig. 2, the synchronous clock ADCU Clock Master, i.e. the first synchronous clock is electrically connected to the autopilot system main controller ADCU-A and the autopilot system redundant controller ADCU-B through an internal communication line, respectively.
It should be noted that the above synchronization control structure is suitable for the situation where the ADCU-a and the ADCU-B are integrated with the same component, and uses the internal clock synchronization to synchronize the ADCU-a and the ADCU-B, so as to ensure that the clock synchronicity between the two reaches a higher order of magnitude.
Fig. 5 is one of flow diagrams of an automatic driving mode synchronous control method provided by the present invention, as shown in fig. 5, the method includes:
S110, based on the time signal of the first synchronous clock, the automatic driving system main controller and the automatic driving system redundant controller send out a driving mode jump command and jump time;
S120, the master controller of the whole vehicle execution system and the redundant controller of the whole vehicle execution system finish the jump of the driving mode based on the jump command of the driving mode and the jump time.
It should be noted that ADCU-A and ADCU-B are integrated inside a single component ADCU, and Clock Master, i.e. the first synchronization Clock, is integrated inside the component; in the synchronous control structure, ADCU-A and ADCU-B continuously acquire ADCU Clock Master time signals through internal communication; ADCU-A and ADCU-B respectively send se:Sub>A mode jump command and specific jump time to ASC-A and ASC-B through communication of se:Sub>A line CAN1 and se:Sub>A line CAN2 in the same internal time; after ASC-A and ASC-B take the mode jump command, they respectively complete the mode jump after confirming that the jump time is reached by means of internal timer.
According to the automatic driving mode synchronous control structure provided by the invention, the two automatic driving system controllers can synchronously send driving instructions by arranging the first synchronous clock in the automatic driving system main controller and the automatic driving system redundant controller, so that the rapid switching of the driving modes is realized, and the safety and the reliability of the driving process are ensured; meanwhile, the synchronous control method of the automatic driving mode based on the synchronous control structure realizes synchronous switching of the automatic driving system main controller and the automatic driving system redundant controller to the driving mode of the vehicle, and ensures driving safety.
According to the automatic driving mode synchronous control mechanism provided by the invention, in the invention, the synchronous control structure further comprises: the system comprises a first synchronous clock, a second synchronous clock and a third synchronous clock, wherein the first synchronous clock is electrically connected with a main controller of the automatic driving system, the third synchronous clock is electrically connected with a redundant controller of the automatic driving system, and the first synchronous channel is electrically connected between the first synchronous clock and the third synchronous clock.
Fig. 3 is a third schematic diagram of the structure of the synchronous control structure of the autopilot mode provided by the present invention, as shown in fig. 3, the synchronous Clock ADCU-a Clock Master, i.e. the second synchronous Clock is electrically connected to the autopilot system Master controller ADCU-a through an internal communication line, the synchronous Clock ADCU-B Clock Master, i.e. the third synchronous Clock is electrically connected to the autopilot system redundant controller ADCU-B through an internal communication line, and the synchronous Clock ADCU-a Clock Master and the synchronous Clock ADCU-B Clock Master are electrically connected through a line CAN.
It should be noted that the above synchronization control structure is suitable for the situation that the ADCU-a and the ADCU-B are respectively located at two parts, and each uses an internal clock to confirm time, and the clocks are synchronized through the line CAN communication.
Fig. 6 is a second flowchart of an automatic driving mode synchronous control method provided by the present invention, as shown in fig. 6, the method includes:
S210, based on a time signal of the second synchronous clock, the automatic driving system main controller sends out a driving mode jump command and jump time; meanwhile, based on a time signal of a third synchronous clock, the redundant controller of the automatic driving system sends out the driving mode jump command and jump time;
S220, the whole vehicle execution system main controller and the whole vehicle execution system redundant controller finish the driving mode skip based on the driving mode skip command and the skip time;
S230, the time signals are synchronized in real time between the second synchronous clock and the third synchronous clock through a first signal synchronization channel.
It should be noted that ADCU-A and ADCU-B are integrated in two parts, respectively, in their respective parts, clock Master: ADCU-A continues to acquire ADCU-AClock Master and ADCU-B continues to acquire ADCU-B Clock Master; ADCU-A Clock Master time and ADCU-B Clock Master time are synchronized through CAN communication of the lines; and the ADCU-A and the ADCU-B respectively send se:Sub>A mode jump command and specific jump time to the ASC-A and the ASC-B through the communication of the line CAN1 and the line CAN2 at the same time, and after the ASC-A and the ASC-B take the mode jump command, the jump time is confirmed to be reached through an internal timer, and the jump is respectively completed, so that the clock synchronism between the ASC-A and the ASC-B is ensured.
According to the automatic driving mode synchronous control structure provided by the invention, the second synchronous clock is arranged in the automatic driving system main controller, the third synchronous clock is arranged in the automatic driving system redundant controller, and the second synchronous clock and the third synchronous clock are connected by the circuit CAN so as to ensure the synchronization of time signals between the two synchronous clocks, so that the two automatic driving system controllers CAN synchronously send driving instructions, the quick switching of driving modes is realized, and the safety and the reliability of the driving process are ensured; the arrangement mode of the synchronous clock in the structure is suitable for the situation that the main controller of the automatic driving system and the redundant controller of the automatic driving system are not integrated in the same component, so that the actual use requirement of the synchronous control structure is fully met; meanwhile, the synchronous control method of the automatic driving mode based on the synchronous control structure realizes synchronous switching of the automatic driving system main controller and the automatic driving system redundant controller to the driving mode of the vehicle, and ensures driving safety.
According to the automatic driving mode synchronous control mechanism provided by the invention, in the invention, the synchronous control structure further comprises: the system comprises a fourth synchronous clock and a fifth synchronous clock, wherein the fourth synchronous clock is respectively and electrically connected with the automatic driving system main controller and the automatic driving system redundant controller, the fifth synchronous clock is respectively and electrically connected with the whole vehicle execution system main controller and the whole vehicle execution system redundant controller, and the fourth synchronous clock and the fifth synchronous clock are electrically connected through a second synchronous channel.
fig. 4 is A schematic diagram of the structure of the synchronous control structure of the autopilot mode provided by the present invention, as shown in fig. 4, the synchronous clock ADCU Clock Master, that is, the fourth synchronous clock is electrically connected to the autopilot system main controller ADCU-A and the autopilot system redundant controller ADCU-B through an internal communication line, the synchronous clock ASC clock master, that is, the fifth synchronous clock is electrically connected to the autopilot system main controller ASC-A and the autopilot system redundant controller ASC-B through an internal communication line, and the synchronous clock ADCU Clock Master and the synchronous clock ASC clock master are electrically connected through A line CAN.
The synchronous control structure uses the fourth synchronous clock to synchronize the command signals sent between the controllers of the automatic driving system, uses the fifth synchronous clock to synchronize the command signals received between the controllers of the whole vehicle execution system, and uses the circuit CAN to synchronize the time signals between the fourth synchronous clock and the fifth synchronous clock, so the synchronous control structure is suitable for the occasion with strict requirement on the mode jump synchronization
Fig. 7 is a third flow chart of an automatic driving mode synchronous control method provided by the present invention, as shown in fig. 7, the method includes:
S310, based on the time signal of the fourth synchronous clock, the automatic driving system main controller and the automatic driving system redundant controller send out a driving mode jump command and jump time;
S320, executing the driving mode jump command and the jump time by the whole vehicle execution system main controller and the whole vehicle execution system redundant controller based on the time signal of the fifth synchronous clock;
s330, synchronizing the time signals in real time between the fourth synchronous clock and the fifth synchronous clock through a second signal synchronizing channel.
It should be noted that, while the Clock Master is integrated in the ADCU, the Clock Master is also integrated in the ASC, and the two Clock masters are synchronized by line CAN communication: ADCU-A and ADCU-B continuously acquire ADCU Clock Master time through an internal communication line, and the ADCU-A and the ADCU-B send A mode jump command and specific jump time to ASC-A and ASC-B through CAN communication at the same internal time; after ASC-A and ASC-B take the mode jump command, the time of ASC clock master is continuously acquired, ADCU Clock Master time and ASC clock master time are synchronized through the line CAN communication between the ASC-A and ASC-B, and after the ASC-A and ASC-B confirm that the jump time is reached, the mode jump is completed respectively.
According to the automatic driving mode synchronous control structure provided by the invention, the time for synchronizing the instruction sending of the automatic driving system controller and the time for receiving the instruction of the whole vehicle execution system are respectively realized by respectively arranging the fourth synchronous clock and the fifth synchronous clock in the automatic driving system controller and the whole vehicle execution system controller, and meanwhile, the synchronization between the automatic driving system controller and the whole vehicle execution system controller is realized by means of the circuit CAN, namely, the synchronization of the instruction sending and the instruction receiving is realized, the condition of delayed instruction execution is thoroughly eradicated, and the control efficiency and consistency in the whole control system are improved; meanwhile, the automatic driving mode synchronous control method based on the synchronous control structure meets the situation that the synchronous requirement is more severe, ensures the reliability of controlling the driving process of the vehicle and realizes driving safety.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An automatic driving mode synchronization control structure comprising: an automatic driving system main controller, an automatic driving system redundant controller, a whole vehicle execution system main controller and a whole vehicle execution system redundant controller, which are characterized in that,
The first end of the automatic driving system main controller is electrically connected with the first end of the automatic driving system redundant controller, the second end of the automatic driving system redundant controller is electrically connected with the first end of the whole vehicle execution system redundant controller, the second end of the whole vehicle execution system redundant controller is electrically connected with the first end of the whole vehicle execution system main controller, and the second end of the whole vehicle execution system main controller is electrically connected with the second end of the automatic driving system main controller; the third end of the automatic driving system main controller is electrically connected with the third end of the whole vehicle execution system redundant controller, and the third end of the automatic driving system redundant controller is electrically connected with the third end of the whole vehicle execution system main controller;
The whole vehicle execution system main controller simultaneously receives the activation instructions of the automatic driving system main controller and the automatic driving system redundant controller and then enters an automatic driving mode; the whole vehicle execution system redundancy controller simultaneously receives the activation instructions of the automatic driving system main controller and the automatic driving system redundancy controller and then enters an automatic driving mode;
the synchronization control structure further includes: the fourth synchronous clock is respectively and electrically connected with the automatic driving system main controller and the automatic driving system redundant controller, the fifth synchronous clock is respectively and electrically connected with the whole vehicle execution system main controller and the whole vehicle execution system redundant controller, and the fourth synchronous clock is electrically connected with the fifth synchronous clock through a second synchronous channel;
And the time for sending the instruction of the automatic driving system controller and the time for receiving the instruction of the whole vehicle execution system are synchronized by respectively setting a fourth synchronous clock and a fifth synchronous clock in the automatic driving system controller and the whole vehicle execution system controller.
2. The automatic driving mode synchronization control structure according to claim 1, characterized in that the synchronization control structure further comprises: and the first synchronous clock is respectively and electrically connected with the automatic driving system main controller and the automatic driving system redundant controller.
3. The automatic driving mode synchronization control structure according to claim 1, characterized in that the synchronization control structure further comprises: the system comprises a first synchronous clock, a second synchronous clock and a third synchronous clock, wherein the first synchronous clock is electrically connected with a main controller of the automatic driving system, the third synchronous clock is electrically connected with a redundant controller of the automatic driving system, and the first synchronous channel is electrically connected between the first synchronous clock and the third synchronous clock.
4. An automatic driving mode synchronous control method using the synchronous control structure as claimed in claim 2, characterized in that,
Based on the time signal of the first synchronous clock, the automatic driving system main controller and the automatic driving system redundant controller send out a driving mode jump command and jump time;
and the whole vehicle execution system main controller and the whole vehicle execution system redundant controller finish the jump of the driving mode based on the jump command of the driving mode and the jump time.
5. An automatic driving mode synchronous control method using the synchronous control structure as claimed in claim 3, characterized in that,
Based on the time signal of the second synchronous clock, the main controller of the automatic driving system sends out a driving mode jump command and jump time; meanwhile, based on a time signal of a third synchronous clock, the redundant controller of the automatic driving system sends out the driving mode jump command and jump time;
the whole vehicle execution system main controller and the whole vehicle execution system redundant controller complete the jump of the driving mode based on the jump command of the driving mode and the jump time;
and the time signals are synchronized in real time between the second synchronous clock and the third synchronous clock through a first signal synchronous channel.
6. An automatic driving mode synchronous control method using the synchronous control structure as claimed in claim 1, characterized in that,
Based on the time signal of the fourth synchronous clock, the automatic driving system main controller and the automatic driving system redundant controller send out a driving mode jump command and jump time;
Based on the time signal of the fifth synchronous clock, the master controller of the whole vehicle execution system and the redundant controller of the whole vehicle execution system execute the driving mode jump command and the jump time;
and the time signals are synchronized in real time between the fourth synchronous clock and the fifth synchronous clock through a second signal synchronous channel.
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